CN114378790B - A full-body exoskeleton for transportation assistance - Google Patents
A full-body exoskeleton for transportation assistance Download PDFInfo
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- CN114378790B CN114378790B CN202210026037.6A CN202210026037A CN114378790B CN 114378790 B CN114378790 B CN 114378790B CN 202210026037 A CN202210026037 A CN 202210026037A CN 114378790 B CN114378790 B CN 114378790B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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Abstract
本发明公开了一种面向搬运助力的全身外骨骼,包括腰背板机构、肩部机构、大小臂机构、髋部机构和大小腿机构。当穿戴者搬运重物时,肩部机构中的电机提供主动助力,大小臂机构中的拉簧和髋部、大小腿机构中的压簧三段式伸缩杆提供被动助力;通过全身多处绑缚设计及四肢处独特的可调支撑板设计,保证了穿戴的舒适性,使得负载主要通过外骨骼传至地面,部分负载将由全身均匀承担;外骨骼多处采用调长设计,增大了适用人群范围;多处关节采用机械限位,保证搬运过程中的安全同时提供部分支撑作用;单侧上肢采用4自由度,单侧下肢采用5自由度,灵活性强;外骨骼整体结构简单紧凑,并且采用轻量化设计,多处镂空减重。
The invention discloses a whole-body exoskeleton oriented to transportation and assisting, which comprises a back plate mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism. When the wearer carries heavy objects, the motor in the shoulder mechanism provides active assistance, the extension spring in the upper and lower arm mechanisms and the three-stage telescopic rod of the compression spring in the hip and thigh mechanisms provide passive assistance; The binding design and the unique adjustable support plate design at the limbs ensure the comfort of wearing, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body; Range of people; multiple joints adopt mechanical limit to ensure the safety during the handling process and provide partial support; unilateral upper limb adopts 4 degrees of freedom, unilateral lower limb adopts 5 degrees of freedom, strong flexibility; the overall structure of the exoskeleton is simple and compact, And it adopts a lightweight design, with multiple hollows to reduce weight.
Description
技术领域technical field
本发明属于助力机器人技术领域,具体涉及一种面向搬运助力的全身外骨骼。The invention belongs to the technical field of power-assisted robots, and in particular relates to a whole-body exoskeleton oriented to assisting in transportation.
背景技术Background technique
随着工业4.0时代的到来和社会的高速发展,加工制造业和物流行业已成为我国支柱行业。但是在工厂和物流仓库中装卸物料、搬运物资等工作主要依靠人力完成。目前市场上常见的外骨骼主要用于医疗康复保健领域,投入在物资搬运使用的外骨骼却较为少见。因此设计一款可穿戴的轻量化全身外骨骼,可以减轻工人工作强度,提高工作效率并保障其人身安全。With the advent of the Industry 4.0 era and the rapid development of society, the processing, manufacturing and logistics industries have become the pillar industries of our country. However, the work of loading and unloading materials and moving materials in factories and logistics warehouses mainly depends on manpower. Currently, the exoskeletons that are common on the market are mainly used in the field of medical rehabilitation and health care, but the exoskeletons used in material handling are relatively rare. Therefore, designing a wearable lightweight full-body exoskeleton can reduce the work intensity of workers, improve work efficiency and ensure their personal safety.
目前已有的搬运助力外骨骼的设计多存在轻量化、舒适性和实用性的问题。例如发明专利CN106695760A公布了“一种用于辅助搬运的全身外骨骼助力机器人”,该设计肩部缺少肩关节内旋/外旋自由度,髋部缺少髋关节外展/内收、内旋/外旋自由度,限制了穿戴者运动范围,缺少灵活性;关节活动范围均没有机械限位,无法保障穿戴者安全;下肢设计缺少支撑,当穿戴者下蹲时负重和外骨骼自重大部分由穿戴者承担。发明专利“CN107984461A”公布了一种“面向搬运工作的气动上肢助力外骨骼机器人”,使用新型气动肌肉作为驱动器,使得机器人驱动力-自重比较高,能量使用效率得到提高。但是负载和外骨骼自重仍全部由穿戴者承担,对穿戴者腰背负荷重,长时间使用容易对穿戴者腰背造成损伤。At present, most of the existing designs of the exoskeleton for transportation have problems of light weight, comfort and practicability. For example, the invention patent CN106695760A announced "a whole-body exoskeleton power-assisted robot for assisting transportation". The degree of freedom of external rotation limits the wearer's range of motion and lacks flexibility; there is no mechanical limit to the range of joint motion, which cannot guarantee the safety of the wearer; the design of the lower limbs lacks support, and when the wearer squats down, most of the load and the weight of the exoskeleton are by The wearer bears. The invention patent "CN107984461A" announced a "pneumatic upper limb assisted exoskeleton robot for handling work", which uses a new type of pneumatic muscle as a driver, which makes the robot's driving force-weight ratio higher and energy efficiency improved. However, the load and the self-weight of the exoskeleton are still all borne by the wearer, and the load on the wearer's back is heavy, and it is easy to cause damage to the wearer's back after long-term use.
发明内容Contents of the invention
为了克服现有技术的不足,本发明提供了一种面向搬运助力的全身外骨骼,包括腰背板机构、肩部机构、大小臂机构、髋部机构和大小腿机构。当穿戴者搬运重物时,肩部机构中的电机提供主动助力,大小臂机构中的拉簧和髋部、大小腿机构中的压簧三段式伸缩杆提供被动助力;通过全身多处绑缚设计及四肢处独特的可调支撑板设计,保证了穿戴的舒适性,使得负载主要通过外骨骼传至地面,部分负载将由全身均匀承担;外骨骼多处采用调长设计,增大了适用人群范围;多处关节采用机械限位,保证搬运过程中的安全同时提供部分支撑作用;单侧上肢采用4自由度,单侧下肢采用5自由度,灵活性强;外骨骼整体结构简单紧凑,并且采用轻量化设计,多处镂空减重。In order to overcome the deficiencies of the prior art, the present invention provides a whole-body exoskeleton oriented to assisting in transportation, including a back plate mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism. When the wearer carries heavy objects, the motor in the shoulder mechanism provides active assistance, and the extension spring in the arm mechanism and the compression spring three-stage telescopic rod in the hip and thigh mechanism provide passive assistance; The binding design and the unique adjustable support plate design at the limbs ensure the comfort of wearing, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body; Crowd range; multiple joints adopt mechanical limit to ensure safety during transportation and provide partial support; unilateral upper limb adopts 4 degrees of freedom, unilateral lower limb adopts 5 degrees of freedom, strong flexibility; the overall structure of the exoskeleton is simple and compact, And it adopts a lightweight design, with multiple hollows to reduce weight.
本发明解决其技术问题所采用的技术方案如下:The technical solution adopted by the present invention to solve its technical problems is as follows:
一种面向搬运助力的全身外骨骼,包括腰背板机构、肩部机构、大小臂机构、髋部机构和大小腿机构;所述肩部机构有相同的左右两部分,分别与腰背板机构顶部的左端和右端固定连接;所述大小臂机构有相同的左右两部分,分别与肩部机构的左右两部分连接;所述髋部机构有相同的左右两部分,分别与腰背板机构底部的左端和右端固定连接;所述大小腿机构有相同的左右两部分,分别与髋部机构的左右两部分固定连接;所述全身外骨骼整体构成人形,在使用时,通过绑带与穿戴者固定在一起;A whole-body exoskeleton oriented to assisting in transportation, including a backboard mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism, and a large and small leg mechanism; the shoulder mechanism has the same left and right parts, respectively The left and right ends of the top are fixedly connected; the large and small arm mechanisms have the same left and right parts, which are respectively connected with the left and right parts of the shoulder mechanism; the hip mechanism has the same left and right parts, which are respectively connected with the bottom The left end and the right end of the body are fixedly connected; the large and small leg mechanism has the same left and right parts, which are respectively fixedly connected with the left and right parts of the hip mechanism; fixed together;
所述腰背板机构包括背板和腰板;所述背板呈T型,顶部左右两端设置多个通孔,用于和肩部机构连接;所述背板顶部和中部两侧对称设置多个长方槽,用于固定绑带;所述背板下端设置两竖排通孔,用于和腰板连接;所述腰板呈倒T型,中间设置两竖排通孔,通过螺栓与背板的通孔配合实现固定连接,通过上下移动腰板改变通孔对齐位置实现腰背板机构长度调整;所述腰板左右两侧设有长方槽用于固定绑带;所述腰板底部左右两端设置多个通孔,用于和髋部机构连接;The back plate mechanism includes a back plate and a waist plate; the back plate is T-shaped, and a plurality of through holes are arranged at the left and right ends of the top for connecting with the shoulder mechanism; the top and middle sides of the back plate are symmetrically arranged with multiple Two rectangular slots are used to fix the straps; the lower end of the backboard is provided with two vertical rows of through holes for connecting with the waistboard; the waistboard is in an inverted T shape with two vertical rows of throughholes arranged in the middle, through which the bolts are connected to the backboard The through holes of the waist board can be fixedly connected, and the length of the back board mechanism can be adjusted by moving the waist board up and down to change the alignment position of the through holes; the left and right sides of the waist board are provided with rectangular grooves for fixing straps; the left and right ends of the bottom of the waist board are set Multiple through holes for connecting with the hip mechanism;
所述肩部机构的左部分包括第一肩部连接板、肩部铰链、第二肩部连接板、第三肩部连接板、第四肩部连接板和驱动装置;所述第一肩部连接板上设置多排通孔,通过螺栓与背板的顶部左端的通孔配合实现固定连接,通过左右移动第一肩部连接板改变通孔对齐位置实现全身外骨骼肩宽调整;所述第一肩部连接板与第二肩部连接板通过肩部铰链连接,所述肩部铰链辅助肩部关节内旋或外旋;所述第三肩部连接板与第二肩部连接板中部设有通孔,通过轴肩螺栓将二者铰接,第三肩部连接板能绕第二肩部连接板转动,辅助肩部关节外展和内收;所述第四肩部连接板上设置多排通孔,通过螺栓与第三肩部连接板上的通孔配合实现固定连接,通过左右移动第三肩部连接板改变通孔对齐位置实现全身外骨骼大臂长度调整;所述驱动装置固定安装在第四肩部连接板上;所述肩部机构的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of the shoulder mechanism comprises a first shoulder connecting plate, a shoulder hinge, a second shoulder connecting plate, a third shoulder connecting plate, a fourth shoulder connecting plate and a driving device; the first shoulder Multiple rows of through holes are set on the connecting plate, and the fixed connection is realized through the cooperation of the bolts with the through holes at the top left end of the back plate, and the adjustment of the shoulder width of the whole body exoskeleton is realized by moving the first shoulder connecting plate left and right to change the alignment position of the through holes; A shoulder connecting plate is connected to the second shoulder connecting plate through a shoulder hinge, and the shoulder hinge assists the internal rotation or external rotation of the shoulder joint; the middle part of the third shoulder connecting plate and the second shoulder connecting plate is arranged There are through holes, and the two are hinged through the shoulder bolts. The third shoulder connecting plate can rotate around the second shoulder connecting plate to assist the abduction and adduction of the shoulder joint; the fourth shoulder connecting plate is provided with multiple A row of through holes is fixedly connected by the cooperation of the bolts with the through holes on the third shoulder connecting plate, and the alignment position of the through holes is changed by moving the third shoulder connecting plate left and right to realize the adjustment of the length of the large arm of the whole body exoskeleton; the driving device is fixed Installed on the fourth shoulder connecting plate; the right part and the left part of the shoulder mechanism are symmetrically installed with the vertical central axis of the waist-back plate mechanism as the symmetrical axis;
所述大小臂机构的左部分包括第一大臂板、大臂支撑板、第二大臂板、拉簧、小臂板和小臂支撑板;所述第一大臂板一端与驱动装置连接,驱动装置能驱动第一大臂板转动;所述第一大臂板另一端设置多排通孔,通过螺栓与第二大臂板上的通孔配合实现固定连接,通过移动第二大臂板改变通孔对齐位置实现全身外骨骼大臂长度调整;所述大臂支撑板固定安装在第一大臂板上,对大臂起绑缚固定作用,搬运重物时为大臂提供支撑;所述小臂板与第二大臂板端部设有通孔,用轴肩螺栓将二者铰接,小臂板能绕第二大臂板转动辅助全身外骨骼肘关节屈曲和伸展;所述第二大臂板上设置机械限位板,使小臂板转动时全身外骨骼肘关节活动范围为30°~120°;所述拉簧一端连接第一大臂板,另一端连接小臂板,为穿戴着搬运重物提供被动助力;所述小臂支撑板固定安装在小臂板上,对小臂起绑缚固定作用,搬运重物时为小臂提供支撑;所述第一大臂板和大臂支撑板上设有方槽,用于固定绑带与穿戴者大臂绑缚;所述小臂板端部设有方槽,用于固定绑带与穿戴者手腕绑缚;所述大小臂机构的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of the large and small arm mechanism includes a first big arm plate, a big arm support plate, a second big arm plate, a tension spring, a small arm plate and a small arm support plate; one end of the first big arm plate is connected to the driving device , the driving device can drive the rotation of the first big arm plate; the other end of the first big arm plate is provided with multiple rows of through holes, and the bolts are fixedly connected with the through holes on the second big arm plate to achieve fixed connection. By moving the second big arm The plate changes the alignment position of the through hole to realize the length adjustment of the arm of the whole body exoskeleton; the arm support plate is fixedly installed on the first arm plate, which binds and fixes the arm and provides support for the arm when carrying heavy objects; The forearm plate and the end of the second big arm plate are provided with through holes, and the two are hinged by shoulder bolts, and the forearm plate can rotate around the second big arm plate to assist the flexion and extension of the elbow joint of the whole body exoskeleton; A mechanical limit plate is set on the second arm plate, so that when the forearm plate rotates, the range of motion of the elbow joint of the whole body exoskeleton is 30°~120°; one end of the tension spring is connected to the first arm plate, and the other end is connected to the forearm plate , to provide passive power assistance for wearing and carrying heavy objects; the forearm support plate is fixedly installed on the forearm plate, which binds and fixes the forearm, and provides support for the forearm when carrying heavy objects; the first large arm There are square grooves on the plate and the upper arm support plate, which are used to bind the straps to the wearer's upper arm; the ends of the forearm board are provided with square grooves, which are used to fix the straps and bind the wearer's wrist; The right part and the left part of the large and small arm mechanism are installed symmetrically with the vertical central axis of the backboard mechanism as the symmetrical axis;
所述髋部机构的左部分包括第一髋部连接板、第二髋部连接板、第三髋部连接板、第四髋部连接板、髋部铰链、第一大腿板和髋部压簧三段式伸缩杆;所述第一髋部连接板上设置多排通孔,通过螺栓与腰板底部左端的通孔配合实现固定连接,通过左右移动腰板改变通孔对齐位置实现全身外骨骼胯宽调整;所述第一髋部连接板和第二髋部连接板通过髋部铰链连接,辅助全身外骨骼髋关节内旋或外旋;所述第二髋部连接板中部设有圆柱凸起,与第三髋部连接板的限位槽组成机械限位,所述第三髋部连接板绕第二髋部连接板端部转动辅助全身外骨骼髋关节外展或内收,同时限制髋关节外展极限45°,内收极限20°,起到保护作用;所述第四髋部连接板一端设置多排通孔,通过螺栓与第三髋部连接板端部的通孔配合实现固定连接,通过左右移动第三髋部连接板改变通孔对齐位置实现全身外骨骼大腿厚度调整;所述第四髋部连接板另一端设有圆柱凸起,与第一大腿板的上端限位槽组成机械限位,所述第一大腿板绕第四髋部连接板端部转动辅助全身外骨骼辅助髋关节屈曲或伸展,限制髋关节屈曲即大腿杆抬起极限为145°,限制髋关节伸展极限为40°,起到保护作用;所述髋部压簧三段式伸缩杆分别与第三髋部连接板和第一大腿板通过轴肩螺栓铰接;所述髋部压簧三段式伸缩杆在穿戴者直立时压簧处于压缩状态,为外骨骼上肢及其负载提供支撑作用;穿戴者下蹲时伸缩杆拉伸,压簧处于放松状态;所述髋部机构的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of the hip mechanism includes the first hip connecting plate, the second hip connecting plate, the third hip connecting plate, the fourth hip connecting plate, the hip hinge, the first thigh plate and the hip compression spring Three-stage telescopic rod; multiple rows of through holes are set on the first hip connecting plate, and the fixed connection is realized through the cooperation of bolts with the through holes at the left end of the bottom of the waist plate, and the alignment position of the through holes is changed by moving the waist plate left and right to realize the hip width of the whole body exoskeleton Adjustment; the first hip connecting plate and the second hip connecting plate are connected by hip hinges to assist the internal rotation or external rotation of the hip joint of the whole body exoskeleton; the middle part of the second hip connecting plate is provided with a cylindrical protrusion, It forms a mechanical limit with the limit groove of the third hip connecting plate, and the third hip connecting plate rotates around the end of the second hip connecting plate to assist the abduction or adduction of the hip joint of the whole body exoskeleton, and at the same time limit the hip joint The limit of abduction is 45°, and the limit of adduction is 20°, which plays a protective role; one end of the fourth hip connecting plate is provided with multiple rows of through holes, and the fixed connection is realized through the cooperation of bolts with the through holes at the end of the third hip connecting plate , by moving the third hip connecting plate left and right to change the alignment position of the through hole to realize the adjustment of the thigh thickness of the whole body exoskeleton; the other end of the fourth hip connecting plate is provided with a cylindrical protrusion, which is composed of the upper limit groove of the first thigh plate Mechanical limit, the first thigh plate rotates around the end of the fourth hip connecting plate to assist the whole body exoskeleton to assist hip flexion or extension, limit the hip joint flexion, that is, the limit of thigh rod lifting is 145°, and limit the limit of hip joint extension 40°, which plays a protective role; the hip compression spring three-stage telescopic rod is hinged with the third hip connecting plate and the first thigh plate through shoulder bolts; the hip compression spring three-stage telescopic rod When the wearer stands upright, the compression spring is in a compressed state, providing support for the upper limb of the exoskeleton and its load; when the wearer squats, the telescopic rod stretches, and the compression spring is in a relaxed state; the right part and the left part of the hip mechanism The vertical central axis of the backboard mechanism is installed symmetrically;
所述髋部压簧三段式伸缩杆包括上底座、细筒、中筒、粗筒,下底座和髋部压簧;所述上底座和细筒一端分别设有通孔,用螺栓将二者固定;所述细筒另一端直径增大,和中筒内部间隙配合;所述中筒一端设有卡口,卡口设有通孔,与细筒中部间隙配合,能保证中筒和细筒活塞运动时始终同轴心;所述中筒和粗筒的配合方式与细筒和中筒的配合方式相同;所述下底座一端与粗筒一端通过四个螺栓固定;所述粗筒和中筒侧面均设有通孔排气,防止髋部压簧三段式伸缩杆进行拉伸压缩时密闭管道内气压与气压不一致产生阻力,同时便于从通孔中添加润滑油;所述髋部压簧套在细筒、中筒和粗筒上,髋部压簧一端固定在下底座上,另一端悬空,当穿戴者直立时髋部压簧处于压缩状态,为穿戴者髋部提供支撑;穿戴者下蹲时髋部压簧三段式伸缩杆拉伸,髋部压簧上端与上底座脱离接触,处于放松状态,恢复原长;The hip compression spring three-stage telescopic rod includes an upper base, a thin tube, a middle tube, a thick tube, a lower base and a hip compression spring; the upper base and one end of the thin tube are respectively provided with through holes, and the two ends are connected by bolts. fixed; the diameter of the other end of the thin tube increases and fits with the internal clearance of the middle tube; one end of the middle tube is provided with a bayonet, and the bayonet is provided with a through hole, which is matched with the middle part of the thin tube to ensure that the middle tube and the thin tube When the cylinder piston moves, it is always concentric; the cooperation between the middle cylinder and the thick cylinder is the same as that of the thin cylinder and the middle cylinder; one end of the lower base and one end of the thick cylinder are fixed by four bolts; the thick cylinder and the There are through holes on the side of the middle barrel to exhaust air, preventing resistance caused by inconsistency between air pressure and air pressure in the airtight pipeline when the three-stage telescopic rod of the hip compression spring is stretched and compressed, and at the same time it is convenient to add lubricating oil from the through holes; the hip The compression spring is set on the thin tube, the middle tube and the thick tube. One end of the hip compression spring is fixed on the lower base, and the other end is suspended in the air. When the wearer stands upright, the hip compression spring is in a compressed state to provide support for the wearer's hip; wear When the patient squats down, the three-stage telescopic rod of the hip compression spring is stretched, and the upper end of the hip compression spring is out of contact with the upper base, and is in a relaxed state, returning to its original length;
所述大小腿机构的左部分包括第二大腿板、大腿支撑板、第一小腿板、第二小腿板、第三小腿板、小腿支撑板、脚板和腿部压簧三段式伸缩杆;所述第二大腿板一端设置多排通孔,通过螺栓与第一大腿板下端的通孔配合实现固定连接,通过移动第一大腿板改变通孔对齐位置实现全身外骨骼大腿长调整;所述第二大腿板另一端设有圆柱体凸起,与第一小腿板上端的限位槽构成机械限位,所述第一小腿板能绕第二大腿板转动辅助膝关节屈曲或伸展,同时限制膝关节不能过伸,伸展极限为正常伸直0°,限制膝关节屈曲极限为135°;所述第一小腿板下端和第二小腿板上端通过螺栓固定;所述第三小腿板上端设有多排通孔,通过螺栓与第二小腿板下端的通孔配合实现固定连接,通过移动第二小腿板改变通孔对齐位置实现全身外骨骼小腿长调整;所述脚板与第三小腿板通过轴肩螺栓铰接,辅助踝关节屈曲或伸展;所述脚板与第三小腿板通过轴肩螺栓铰接,辅助踝关节屈曲/伸展;所述腿部压簧三段式伸缩杆分别与第二大腿板和第二小腿板通过轴肩螺栓铰接;所述腿部压簧三段式伸缩杆的工作原理与髋部压簧三段式伸缩杆相同,当穿戴者直立时,腿部压簧三段式伸缩杆的压簧处于放松状态,当穿戴者下蹲时,腿部压簧三段式伸缩杆的压簧压缩,为下肢外骨骼提供部分支撑;所述大腿支撑板固定安装在第二大腿板上,对大腿起绑缚固定作用,搬运重物时为大腿提供支撑;所述小腿支撑板固定安装在第三小腿板上,对小腿起绑缚固定作用,搬运重物时为小腿提供支撑;所述第二大腿板、大腿支撑板、第一小腿板、第二小腿板、第三小腿板和小腿支撑板均设有方槽,通用固定绑带分别实现大腿和小腿绑缚;所述脚板上设有方槽,用于固定绑带实现脚板绑缚;所述大小腿机构的的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of the thigh mechanism includes a second thigh plate, a thigh support plate, a first calf plate, a second calf plate, a third calf plate, a calf support plate, a foot plate and a three-stage telescopic rod of a leg compression spring; One end of the second thigh plate is provided with multiple rows of through holes, and the bolts are fixedly connected with the through holes at the lower end of the first thigh plate, and the alignment position of the through holes is changed by moving the first thigh plate to realize the adjustment of the thigh length of the whole body exoskeleton; the second thigh plate The other end of the two thigh plates is provided with a cylindrical protrusion, which forms a mechanical limit with the limit groove on the top of the first calf plate. The first calf plate can rotate around the second thigh plate to assist the knee joint to flex or extend, and at the same time limit the knee joint. The joint cannot be hyperextended, the extension limit is 0° of normal extension, and the limit of knee joint flexion is 135°; the lower end of the first calf plate and the upper end of the second calf plate are fixed by bolts; the upper end of the third calf plate is provided with multiple A row of through holes is fixedly connected by bolts to the through holes at the lower end of the second calf plate, and the alignment position of the through holes is changed by moving the second calf plate to adjust the calf length of the whole body exoskeleton; the foot plate and the third calf plate pass through the shaft shoulder The bolt is hinged to assist the flexion or extension of the ankle joint; the foot plate is hinged to the third calf plate through shoulder bolts to assist the ankle joint to flex/extend; The two calf plates are hinged by shoulder bolts; the working principle of the leg spring three-stage telescopic rod is the same as that of the hip spring three-stage telescopic rod. When the wearer stands upright, the leg spring three-stage telescopic rod The compression spring of the leg is in a relaxed state. When the wearer squats down, the compression spring of the three-stage telescopic rod of the leg compression spring is compressed to provide partial support for the lower extremity exoskeleton; the thigh support plate is fixedly installed on the second thigh plate, It binds and fixes the thigh, and provides support for the thigh when carrying heavy objects; the calf support plate is fixedly installed on the third calf plate, plays a role of binding and fixing the calf, and provides support for the calf when carrying heavy objects; The second thigh plate, the thigh support plate, the first calf plate, the second calf plate, the third calf plate and the calf support plate are all provided with square grooves, and the universal fixing straps realize the binding of the thigh and the calf respectively; There is a square groove for fixing the straps to realize the binding of the feet; the right part and the left part of the big and small leg mechanism are symmetrically installed with the vertical central axis of the waist and back plate mechanism as the symmetrical axis;
进一步地,所述背板、腰板、第一大臂板、大臂支撑板、小臂板、小臂支撑板、第一髋部连接板、第三髋部连接板、第四髋部连接板、第一大腿板、第二大腿板、大腿支撑板、第一小腿板、第二小腿板、第三小腿板、小腿支撑板和脚板设有方槽用于减重。Further, the back board, the waist board, the first big arm board, the big arm support board, the forearm board, the forearm support board, the first hip connection board, the third hip connection board, and the fourth hip connection board , the first thigh board, the second thigh board, the thigh support board, the first calf board, the second calf board, the third calf board, the calf support board and the foot board are provided with square grooves for weight reduction.
进一步地,所述驱动装置是集成伺服电机、谐波减速器、编码器为一体的智能控制器,利用惯性测量单元和薄膜压力传感器采集穿戴者的运动信息反馈给上位机,判断穿戴者操作意图,然后驱动电机转动,为穿戴者提供主动助力;Further, the drive device is an intelligent controller integrating servo motor, harmonic reducer, and encoder, and uses the inertial measurement unit and thin-film pressure sensor to collect the motion information of the wearer and feed it back to the host computer to judge the wearer's operation intention , and then drive the motor to rotate to provide active assist for the wearer;
进一步地,所述伺服电机为QDD Pro-PR60-100-90型号的盘式电机,电机的输出力矩通过谐波减速器放大后带动第一大臂板旋转,辅助肩关节的屈曲或伸展。Further, the servo motor is a QDD Pro-PR60-100-90 disc motor, and the output torque of the motor is amplified by a harmonic reducer to drive the first arm plate to rotate, assisting the flexion or extension of the shoulder joint.
进一步地,所述全身外骨骼的上肢采用4自由度,下肢采用5自由度。Further, the upper limbs of the whole body exoskeleton adopt 4 degrees of freedom, and the lower limbs adopt 5 degrees of freedom.
进一步地,所述背板上端绑带内侧为海绵透气肩垫;背板内侧、大臂支撑板内侧、小臂支撑板内侧、大腿支撑板内侧、小腿支撑板内侧和腰板内侧均设有高密度海绵垫,提高穿戴的舒适性。Further, the inner side of the strap on the upper part of the backboard is a sponge breathable shoulder pad; Sponge pads improve wearing comfort.
本发明的有益效果如下:The beneficial effects of the present invention are as follows:
1、本发明提供了一种面向搬运助力的全身外骨骼,采用主被动结合式的设计方案,有利于简化结构,保证助力强度并提高续航时间;被动助力伸缩杆采用三段式设计,增大了伸缩范围,提高了外骨骼的灵活性。1. The present invention provides a whole-body exoskeleton for transportation assistance, which adopts an active-passive combination design scheme, which is conducive to simplifying the structure, ensuring the strength of the assistance and improving the endurance time; the passive assistance telescopic rod adopts a three-stage design, increasing the Increased telescopic range and improved flexibility of the exoskeleton.
2、本发明通过全身多处绑缚设计,保证了绑缚的可靠性和穿戴的舒适性,使得负载主要通过外骨骼传至地面,部分负载将由全身均匀承担;四肢处均设有多组绑带保证了绑缚的可靠性,高密度海绵垫提高了穿戴的舒适性。2. The present invention ensures the reliability of the binding and the comfort of wearing through the multiple binding design of the whole body, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body; there are multiple sets of bindings on the limbs. The belt ensures the reliability of the binding, and the high-density sponge pad improves the wearing comfort.
3、本发明外骨骼多处采用调长设计,增大了适用人群范围。3. The exoskeleton of the present invention adopts length adjustment design in many places, which increases the range of applicable people.
4、本发明多处关节采用机械限位,保证搬运过程中的安全同时提供部分支撑作用;肩、肘、髋和膝关节屈曲/伸展均设有机械限位,一方面保证穿戴者的安全,另一方面在人体下蹲或者手臂抬起各关节处于极限位置时可提供部分被动支撑作用。4. Many joints of the present invention adopt mechanical limit to ensure safety in the process of transportation and provide partial support; shoulder, elbow, hip and knee flexion/extension are all equipped with mechanical limit, on the one hand to ensure the safety of the wearer, On the other hand, when the human body is squatting or the arms are raised and the joints are at the limit position, it can provide partial passive support.
5、本发明单侧上肢采用4自由度,单侧下肢采用5自由度,灵活性强。5. The present invention adopts 4 degrees of freedom for one upper limb and 5 degrees of freedom for one lower limb, so the flexibility is strong.
6、本发明外骨骼整体结构简单紧凑,采用轻量化设计,多处镂空减重。6. The overall structure of the exoskeleton of the present invention is simple and compact, adopts a lightweight design, and has multiple hollows to reduce weight.
附图说明Description of drawings
图1为本发明的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present invention.
图2为本发明的腰背板机构结构示意图。Fig. 2 is a schematic diagram of the structure of the backboard mechanism of the present invention.
图3为本发明的肩部机构示意图。Fig. 3 is a schematic diagram of the shoulder mechanism of the present invention.
图4为本发明的肩部机构爆炸图。Fig. 4 is an exploded view of the shoulder mechanism of the present invention.
图5为本发明的大小臂机构示意图。Fig. 5 is a schematic diagram of the large and small arm mechanism of the present invention.
图6为本发明的髋部机构示意图。Fig. 6 is a schematic diagram of the hip mechanism of the present invention.
图7为本发明的髋部机构爆炸图。Fig. 7 is an exploded view of the hip mechanism of the present invention.
图8为本发明的大小腿机构示意图。Fig. 8 is a schematic diagram of the large and small leg mechanism of the present invention.
图9为本发明的髋部压簧三段式伸缩杆示意图。Fig. 9 is a schematic diagram of the hip compression spring three-stage telescopic rod of the present invention.
图10为本发明的髋部压簧三段式伸缩杆爆炸图。Fig. 10 is an exploded view of the hip compression spring three-stage telescopic rod of the present invention.
附图标记说明:1-第二肩部连接板;2-第一肩部连接板;3-背板;4-肩部铰链;5-第三肩部连接板;6-第四肩部连接板;7-驱动装置;8-第一大臂板;9-大臂支撑板;10-拉簧;11-小臂板;12-第二大臂板;13-小臂支撑板;14-腰板;15-第一髋部连接板;16-髋部铰链;17-第二髋部连接板;18-第三髋部连接板;19-第四髋部连接板;20-髋部压簧三段式伸缩杆;21-第一大腿板;22-大腿支撑板;23-第二大腿板;24-大小腿压簧三段式伸缩杆;25-第一小腿板;26-第二小腿板;27-小腿支撑板;28-第三小腿板;29-脚板;20-1-下底座、20-2-粗筒、20-3-髋部压簧、20-4-中筒、20-5-细筒和20-6-上底座。Explanation of reference numerals: 1-second shoulder connecting plate; 2-first shoulder connecting plate; 3-back plate; 4-shoulder hinge; 5-third shoulder connecting plate; 6-fourth shoulder connecting plate; 7-driving device; 8-first arm plate; 9-arm support plate; 10-tension spring; 11-arm plate; 12-second arm plate; 13-arm support plate; 14- Waist plate; 15-first hip connecting plate; 16-hip hinge; 17-second hip connecting plate; 18-third hip connecting plate; 19-fourth hip connecting plate; 20-hip compression spring Three-stage telescopic rod; 21-first thigh plate; 22-thigh support plate; 23-second thigh plate; 24-three-stage telescopic rod of calf compression spring; 25-first calf plate; 26-second calf Plate; 27-calf support plate; 28-third calf plate; 29-foot plate; 20-1-lower base, 20-2-thick tube, 20-3-hip compression spring, 20-4-middle tube, 20 -5-thin barrel and 20-6-upper base.
具体实施方式Detailed ways
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1所示,一种面向搬运助力的全身外骨骼,包括腰背板机构、肩部机构、大小臂机构、髋部机构和大小腿机构;所述肩部机构有相同的左右两部分,分别与腰背板机构顶部的左端和右端固定连接;所述大小臂机构有相同的左右两部分,分别与肩部机构的左右两部分连接;所述髋部机构有相同的左右两部分,分别与腰背板机构底部的左端和右端固定连接;所述大小腿机构有相同的左右两部分,分别与髋部机构的左右两部分固定连接;所述全身外骨骼整体构成人形,在使用时,通过绑带与穿戴者固定在一起;As shown in Figure 1, a whole-body exoskeleton oriented to assisting in transportation includes a back plate mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism; the shoulder mechanism has the same left and right parts, They are fixedly connected with the left end and the right end of the top of the waist-back plate mechanism respectively; the big and small arm mechanisms have the same left and right parts, respectively connected with the left and right parts of the shoulder mechanism; the hip mechanism has the same left and right parts, respectively It is fixedly connected with the left end and the right end of the bottom of the waist-back plate mechanism; the large and small leg mechanism has the same left and right parts, which are respectively fixedly connected with the left and right parts of the hip mechanism; the whole body exoskeleton forms a human shape as a whole. Fastened to the wearer by straps;
所述腰背板机构包括背板3和腰板14;所述背板3呈T型,顶部左右两端设置多个通孔,用于和肩部机构连接;所述背板3顶部和中部两侧对称设置多个长方槽,用于固定绑带;所述背板3下端设置两竖排通孔,用于和腰板14连接;所述腰板14呈倒T型,中间设置两竖排通孔,通过螺栓与背板3的通孔配合实现固定连接,通过上下移动腰板14改变通孔对齐位置实现腰背板机构长度调整;所述腰板14左右两侧设有长方槽用于固定绑带;所述腰板14底部左右两端设置多个通孔,用于和髋部机构连接;The backboard mechanism includes a
所述肩部机构的左部分包括第一肩部连接板2、肩部铰链4、第二肩部连接板1、第三肩部连接板5、第四肩部连接板6和驱动装置7;所述第一肩部连接板2上设置多排通孔,通过螺栓与背板3的顶部左端的通孔配合实现固定连接,通过左右移动第一肩部连接板2改变通孔对齐位置实现全身外骨骼肩宽调整;所述第一肩部连接板2与第二肩部连接板1通过肩部铰链4连接,所述肩部铰链4辅助肩部关节内旋和外旋;所述第三肩部连接板5与第二肩部连接板1中部设有通孔,通过轴肩螺栓将二者铰接,第三肩部连接板5能绕第二肩部连接板1转动,辅助肩部关节外展和内收;所述第四肩部连接板6上设置多排通孔,通过螺栓与第三肩部连接板5上的通孔配合实现固定连接,通过左右移动第三肩部连接板5改变通孔对齐位置实现全身外骨骼大臂长度调整;所述驱动装置7固定安装在第四肩部连接板6上;所述肩部机构的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of the shoulder mechanism comprises a first
所述大小臂机构的左部分包括第一大臂板8、大臂支撑板9、第二大臂板12、拉簧10、小臂板11和小臂支撑板13;所述第一大臂板8一端与驱动装置7连接,驱动装置7能驱动第一大臂板8转动;所述第一大臂板8另一端设置多排通孔,通过螺栓与第二大臂板12上的通孔配合实现固定连接,通过移动第二大臂板12改变通孔对齐位置实现全身外骨骼大臂长度调整;所述大臂支撑板9固定安装在第一大臂板8上,对大臂起绑缚固定作用,搬运重物时为大臂提供支撑;所述小臂板11与第二大臂板12端部设有通孔,用轴肩螺栓将二者铰接,小臂板11能绕第二大臂板12转动辅助全身外骨骼肘关节屈曲和伸展;所述第二大臂板12上设置机械限位板,使小臂板11转动时全身外骨骼肘关节活动范围为30°~120°;所述拉簧10一端连接第一大臂板8,另一端连接小臂板11,为穿戴着搬运重物提供被动助力;所述小臂支撑板13固定安装在小臂板11上,对小臂起绑缚固定作用,搬运重物时为小臂提供支撑;所述第一大臂板8和大臂支撑板9上设有方槽,用于固定绑带与穿戴者大臂绑缚;所述小臂11板端部设有方槽,用于固定绑带与穿戴者手腕绑缚;所述大小臂机构的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of described big and small arm mechanism comprises first
所述髋部机构的左部分包括第一髋部连接板15、第二髋部连接板17、第三髋部连接板18、第四髋部连接板19、髋部铰链16、第一大腿板21和髋部压簧三段式伸缩杆20;所述第一髋部连接板15上设置多排通孔,通过螺栓与腰板14底部左端的通孔配合实现固定连接,通过左右移动腰板14改变通孔对齐位置实现全身外骨骼胯宽调整;所述第一髋部连接板15和第二髋部连接板17通过髋部铰链16连接,辅助全身外骨骼髋关节内旋或外旋;所述第二髋部连接板17中部设有圆柱凸起,与第三髋部连接板18的限位槽组成机械限位,所述第三髋部连接板18绕第二髋部连接板17端部转动辅助全身外骨骼髋关节外展或内收,同时限制髋关节外展极限45°,内收极限20°,起到保护作用;所述第四髋部连接板19一端设置多排通孔,通过螺栓与第三髋部连接板18端部的通孔配合实现固定连接,通过左右移动第三髋部连接板18改变通孔对齐位置实现全身外骨骼大腿厚度调整;所述第四髋部连接板19另一端设有圆柱凸起,与第一大腿板21的上端限位槽组成机械限位,所述第一大腿板21绕第四髋部连接板19端部转动辅助全身外骨骼辅助髋关节屈曲或伸展,限制髋关节屈曲即大腿杆抬起极限为145°,限制髋关节伸展极限为40°,起到保护作用;所述髋部压簧三段式伸缩杆20分别与第三髋部连接板18和第一大腿板21通过轴肩螺栓铰接;所述髋部压簧三段式伸缩杆20在穿戴者直立时压簧处于压缩状态,为外骨骼上肢及其负载提供支撑作用;穿戴者下蹲时伸缩杆20拉伸,压簧上端与上底座20-6脱离接触,压簧处于放松状态;所述髋部机构的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of described hip mechanism comprises the first
所述髋部压簧三段式伸缩杆20包括上底座20-6、细筒20-5、中筒20-4、粗筒20-2,下底座20-1和髋部压簧20-3;所述上底座20-6和细筒20-5一端分别设有通孔,用螺栓将二者固定;所述细筒20-5另一端直径增大,和中筒20-4内部间隙配合;所述中筒20-4一端设有卡口,卡口设有通孔,与细筒20-5中部间隙配合,能保证中筒和细筒活塞运动时始终同轴心;所述中筒和粗筒的配合方式与细筒和中筒的配合方式相同;所述下底座20-1一端与粗筒20-2一端通过四个螺栓固定;所述粗筒和中筒侧面均设有通孔排气,防止髋部压簧三段式伸缩杆20进行拉伸压缩时密闭管道内气压与大气压不一致产生阻力,同时便于从通孔中添加润滑油;所述髋部压簧20-3套在细筒20-5、中筒20-4和粗筒20-2上,髋部压簧20-3一端固定在下底座上,另一端悬空,当穿戴者直立时髋部压簧处于压缩状态,为穿戴者髋部提供支撑;穿戴者下蹲时髋部压簧三段式伸缩杆拉伸,髋部压簧上端与上底座脱离接触,处于放松状态,恢复原长;The hip compression spring three-stage telescopic rod 20 includes an upper base 20-6, a thin tube 20-5, a middle tube 20-4, a thick tube 20-2, a lower base 20-1 and a hip compression spring 20-3 One end of the upper base 20-6 and the thin tube 20-5 is respectively provided with a through hole, and the two are fixed with bolts; the other end of the thin tube 20-5 is enlarged in diameter, and fits with the internal clearance of the middle tube 20-4 One end of the middle cylinder 20-4 is provided with a bayonet, and the bayonet is provided with a through hole, which cooperates with the middle part of the thin cylinder 20-5 to ensure that the pistons of the middle cylinder and the thin cylinder are always coaxial; The mode of cooperation with the thick tube is the same as that of the thin tube and the middle tube; one end of the lower base 20-1 and one end of the thick tube 20-2 are fixed by four bolts; the sides of the thick tube and the middle tube are provided with through Hole exhaust, preventing the hip pressure spring three-stage telescopic rod 20 from stretching and compressing, the air pressure in the airtight pipeline is inconsistent with the atmospheric pressure to generate resistance, and it is convenient to add lubricating oil from the through hole; the hip compression spring 20-3 sets On the thin tube 20-5, the middle tube 20-4 and the thick tube 20-2, one end of the hip compression spring 20-3 is fixed on the lower base, and the other end is suspended in the air. When the wearer stands upright, the hip compression spring is in a compressed state. Provide support for the wearer's hip; when the wearer squats down, the three-stage telescopic rod of the hip compression spring is stretched, and the upper end of the hip compression spring is out of contact with the upper base, in a relaxed state, and returns to its original length;
所述大小腿机构的左部分包括第二大腿板23、大腿支撑板22、第一小腿板25、第二小腿板26、第三小腿板28、小腿支撑板27、脚板29和腿部压簧三段式伸缩杆24;所述第二大腿板23一端设置多排通孔,通过螺栓与第一大腿板21下端的通孔配合实现固定连接,通过移动第一大腿板21改变通孔对齐位置实现全身外骨骼大腿长调整;所述第二大腿板23另一端设有圆柱体凸起,与第一小腿板25上端的限位槽构成机械限位,所述第一小腿板25能绕第二大腿板23转动辅助膝关节屈曲或伸展,同时限制膝关节不能过伸,伸展极限为正常伸直0°,限制膝关节屈曲极限为135°;所述第一小腿板25下端和第二小腿板26上端通过螺栓固定;所述第三小腿板28上端设有多排通孔,通过螺栓与第二小腿板26下端的通孔配合实现固定连接,通过移动第二小腿板26改变通孔对齐位置实现全身外骨骼小腿长调整;所述脚板29与第三小腿板28通过轴肩螺栓铰接,辅助踝关节屈曲或伸展;所述脚板29与第三小腿板28通过轴肩螺栓铰接,辅助踝关节屈曲/伸展;所述腿部压簧三段式伸缩杆24分别与第二大腿板23和第二小腿板26通过轴肩螺栓铰接;所述腿部压簧三段式伸缩杆24的工作原理与髋部压簧三段式伸缩杆20相同,当穿戴者直立时,腿部压簧三段式伸缩杆24的压簧处于放松状态,当穿戴者下蹲时,腿部压簧三段式伸缩杆24的压簧压缩,为下肢外骨骼提供部分支撑;所述大腿支撑板22固定安装在第二大腿板23上,对大腿起绑缚固定作用,搬运重物时为大腿提供支撑;所述小腿支撑板27固定安装在第三小腿板28上,对小腿起绑缚固定作用,搬运重物时为小腿提供支撑;所述第二大腿板23、大腿支撑板22、第一小腿板25、第二小腿板26、第三小腿板28和小腿支撑板27均设有方槽,通用固定绑带分别实现大腿和小腿绑缚;所述脚板29上设有方槽,用于固定绑带实现脚板绑缚;所述大小腿机构的的右部分与左部分以腰背板机构的竖直中轴线为对称轴对称安装;The left part of described calf mechanism comprises
进一步地,所述背板3、腰板14、第一大臂板8、大臂支撑板9、小臂板11、小臂支撑板13、第一髋部连接板15、第三髋部连接板18、第四髋部连接板19、第一大腿板21、第二大腿板23、大腿支撑板22、第一小腿板25、第二小腿板26、第三小腿板28、小腿支撑板27和脚板29设有方槽用于减重。Further, the
进一步地,所述驱动装置7是集成伺服电机、谐波减速器、编码器为一体的智能控制器,利用惯性测量单元和薄膜压力传感器采集穿戴者的运动信息反馈给上位机,判断穿戴者操作意图,然后驱动电机转动,为穿戴者提供主动助力;Further, the
进一步地,所述伺服电机为QDD Pro-PR60-100-90型号的盘式电机,电机的输出力矩通过谐波减速器放大后带动第一大臂板8旋转,辅助肩关节的屈曲或伸展。Further, the servo motor is a QDD Pro-PR60-100-90 disc motor, and the output torque of the motor is amplified by a harmonic reducer to drive the first
进一步地,所述全身外骨骼的上肢采用4自由度,下肢采用5自由度,灵活性强。Further, the upper limbs of the whole body exoskeleton adopt 4 degrees of freedom, and the lower limbs adopt 5 degrees of freedom, so the flexibility is strong.
进一步地,所述背板3上端绑带内侧为海绵透气肩垫;背板3内侧、大臂支撑板9内侧、小臂支撑板13内侧、大腿支撑板内侧22、小腿支撑板27内侧和腰板14内侧均设有高密度海绵垫,提高穿戴的舒适性。Further, the inner side of the strap at the upper end of the
进一步地,所述全身外骨骼除伺服电机、铰链、弹簧和螺栓外均采用6061-T6铝合金加工,整体重量小于10kg。Further, the whole body exoskeleton is made of 6061-T6 aluminum alloy except for servo motors, hinges, springs and bolts, and the overall weight is less than 10kg.
全身外骨骼肩部铰链的转动辅助肩关节内旋/外旋;肩部第三连接板的转动辅助肩关节内收/外展;伺服电机的转动带动肩关节屈曲/伸展,实现抬起重物功能;小臂板绕第二大臂板的转动,在拉簧被动助力下辅助肘关节屈曲/伸展;髋部铰链的转动辅助髋关节内旋/外旋;髋部第三连接板绕髋部第二连接板端部的转动辅助髋关节内收/外展;第一大腿板绕髋部第四连接板端部的转动辅助髋关节屈曲/伸展;第一小腿板可绕第二大腿板端部的转动辅助膝关节屈曲/伸展;脚板绕第三小腿板端部的转动辅助踝关节屈曲/伸展。The rotation of the shoulder hinge of the whole body exoskeleton assists the internal rotation/external rotation of the shoulder joint; the rotation of the third connecting plate of the shoulder assists the adduction/abduction of the shoulder joint; the rotation of the servo motor drives the flexion/extension of the shoulder joint to lift heavy objects Function; the rotation of the forearm plate around the second large arm plate assists the flexion/extension of the elbow joint under the passive assistance of the tension spring; the rotation of the hip hinge assists the internal rotation/external rotation of the hip joint; the third connecting plate of the hip revolves around the hip Rotation of the end of the second link assists hip adduction/abduction; rotation of the first thigh plate around the end of the fourth link of the hip assists hip flexion/extension; first calf plate can wrap around the end of the second thigh plate Rotation of the third calf plate assists knee flexion/extension; rotation of the foot plate around the end of the third calf plate assists ankle flexion/extension.
通过全身多处绑缚设计,保证了穿戴的舒适性,使得负载主要通过外骨骼传至地面,部分负载将由全身均匀承担。The wearing comfort is ensured through the multiple binding design of the whole body, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body.
具体实施例:Specific examples:
结合图2说明本实施方式,本实施方式所述腰背板机构包括:背板3和腰板14。所述背板3上端和中部两侧矩形板对称设置多个狭长方槽,可固定绑带;所述腰板14中部两侧设有狭长方槽固定腹部绑带;所述腰板14中部设有两排通孔与背板3通过螺栓固定可实现背部调长;所述背板3设有圆孔方槽用于减重并且腰板14设有方槽用于减重。This embodiment will be described with reference to FIG. 2 . The waist and back board mechanism in this embodiment includes: a
结合图3和图4说明本实施方式,本实施方式所述肩部机构包括:第一肩部连接板2、肩部铰链4、第二肩部连接板1、第三肩部连接板5、第四肩部连接板6和驱动装置7;所述肩部铰链4辅助肩关节内旋/外旋;所述第三肩部连接板5绕第二肩部连接板1的转动辅助肩关节外展/内收,同时第二肩部连接板1处的机械限位限制内收,保证搬运重物时不会对大臂造成内收压迫,减轻穿戴者负荷;所述第一肩部连接板2和第四肩部连接板6的多排通孔可对肩宽、大臂厚实现调长;所述驱动装置7是集成伺服电机、谐波减速器、编码器为一体的智能控制器;利用惯性测量单元和薄膜压力传感器采集运动信息反馈给上位机,判断穿戴者操作意图,然后驱动电机转动,为穿戴者提供主动助力;伺服电机为QDD Pro-PR60-100-90型号的盘式电机,电机的输出力矩通过谐波减速器放大后带动第一大臂板8旋转,辅助肩关节的屈曲/伸展。This embodiment is described in conjunction with FIG. 3 and FIG. 4 . The shoulder mechanism in this embodiment includes: a first shoulder connecting plate 2, a shoulder hinge 4, a second shoulder connecting plate 1, a third shoulder connecting plate 5, The fourth shoulder connecting plate 6 and the driving device 7; the shoulder hinge 4 assists the internal/external rotation of the shoulder joint; the rotation of the third shoulder connecting plate 5 around the second shoulder connecting plate 1 assists the external rotation of the shoulder joint At the same time, the mechanical limit at the second shoulder connecting plate 1 restricts adduction, so as to ensure that the upper arm will not be retracted and oppressed when carrying heavy objects, and the load on the wearer will be reduced; the first shoulder connecting plate 2 and the multiple rows of through holes of the fourth shoulder connecting plate 6 can adjust the length of the shoulder width and the thickness of the arm; the driving device 7 is an intelligent controller integrating a servo motor, a harmonic reducer and an encoder; Use the inertial measurement unit and the thin film pressure sensor to collect motion information and feed it back to the host computer to judge the wearer's operation intention, and then drive the motor to rotate to provide active assistance for the wearer; the servo motor is a QDD Pro-PR60-100-90 disc motor , the output torque of the motor is amplified by the harmonic reducer to drive the first big arm plate 8 to rotate, assisting the flexion/extension of the shoulder joint.
结合图5说明本实施方式,本实施方式所述大小臂机构包括:第一大臂板8、大臂支撑板9、第二大臂板12、拉簧10、小臂板11和小臂支撑板13组成;所述小臂板11可绕第二大臂板12转动辅助肘关节屈曲/伸展,同时第二大臂板12的机械限位使得肘关节活动范围为屈曲30°~120°,当穿戴者搬运重物肘关节屈曲30°时机械限位和拉簧双重作用提供支撑,保护肘关节;所述大臂支撑板9和小臂支撑板13对大小臂分别起绑缚固定作用,搬运重物时为大小臂提供支撑,并且位置都可调,提高穿戴舒适性;所述第一大臂板8、大臂支撑板9、第二大臂板12、小臂板11和小臂支撑板13均设有方槽用于减重。This embodiment is described in conjunction with FIG. 5 . The large and small arm mechanisms in this embodiment include: a
结合图6和图7说明本实施方式,本实施方式所述髋部机构包括:第一髋部连接板15、第二髋部连接板17、第三髋部连接板18、第四髋部连接板19、髋部铰链16、第一大腿板21和髋部压簧三段式伸缩杆20;所述髋部铰链16辅助髋关节内旋/外旋;所述第三髋部连接板18绕第二髋部连接板17端部转动辅助髋关节外展/内收;所述第二髋部连接板17中部设有圆柱凸起,与第三髋部连接板18的限位槽组成机械限位,限制髋关节外展极限45°,内收极限20°,起一定的保护作用;所述第一大腿板21可绕第四髋部连接板19端部转动辅助髋关节屈曲/伸展;所述第四髋部连接板19和第一大腿板21的机械限位与第二髋部连接板17与第三髋部连接板18的机械限位相似,限制髋关节屈曲即大腿杆抬起极限为145°,限制髋关节后伸极限为40°;所述髋部压簧三段式伸缩杆20在穿戴者直立时压簧处于压缩状态,为外骨骼上肢及其负载提供支撑作用;穿戴者下蹲时伸缩杆20拉伸,压簧上端与上底座20-6脱离接触,压簧处于放松状态。第一髋部连接板15和第四髋部连接板19均设有多个通孔分别用于胯宽、大腿厚调长,增加适用人群范围,提高穿戴舒适性;所述第一髋部连接板15、第三髋部连接板18、第四髋部连接板19、第一大腿板21均设有方槽用于减重。This embodiment is described with reference to Fig. 6 and Fig. 7. The hip mechanism in this embodiment includes: a first
结合图8说明本实施方式,本实施方式所述大小腿机构包括:第二大腿板23、大腿支撑板22、第一小腿板25、第二小腿板26、第三小腿板28、小腿支撑板27、脚板29和腿部压簧三段式伸缩杆24;所述第一小腿板25可绕第二大腿板23转动辅助膝关节屈曲/伸展;所述第二大腿板23一端设有圆柱体凸起,与第一小腿板25的限位槽构成机械限位,限制膝关节不能过伸,伸展极限为正常伸直0°,限制膝关节屈曲极限为135°;所述第二大腿板23一端设有多个通孔,可实现大腿长调长,第三小腿板28一端设有多个通孔,可实现小腿长调长,增加适用人群范围,提高穿戴的舒适性;大腿支撑板22和小腿支撑板27对大小腿分别起绑缚固定作用,搬运重物时为大小腿提供支撑,并且位置都可调,提高穿戴舒适性;所述脚板29与第三小腿板28通过轴肩螺栓铰接,辅助踝关节屈曲/伸展;当穿戴者直立时,压簧处于放松状态,当穿戴者下蹲时,压簧压缩,为下肢外骨骼提供部分支撑;所述第二大腿板23、大腿支撑板22、第一小腿板25、第二小腿板26、第三小腿板28、小腿支撑板27和脚板29均设有方槽用于减重。This embodiment is described in conjunction with FIG. 8 . The thigh mechanism in this embodiment includes: a
结合图9和图10说明本实施方式,本实施方式所述的髋部压簧三段式伸缩杆20包括:下底座20-1、粗筒20-2、压簧20-3、中筒20-4、细筒20-5和上底座20-6;所述上底座20-6圆筒端和细筒20-5一端设有通孔,用螺栓将二者固定;所述下底座20-1一端与粗筒20-2一端通过四个螺栓固定;所述细筒20-5一端部分长度直径增大,和中筒20-4内部间隙配合,中筒20-4一端部分长度设有卡口,卡口设有通孔,与细筒20-5中部间隙配合,即可保证两杆活塞运动时始终同轴心;所述中筒20-4和粗筒20-2的配合与细筒20-5和中筒20-4的连接方式类似;所述粗筒20-2、中筒20-4侧面均设有通孔排气,防止伸缩杆进行拉伸压缩时密闭管道内气压与大气压不一致产生阻力,同时便于从通孔中添加润滑油;所述髋部压簧20-3在穿戴者直立时处于压缩状态,为髋部机构提供支撑;穿戴者下蹲时伸缩杆拉伸,一定程度时髋部压簧20-3处于放松状态,且上端与上底座20-6脱离接触,整个伸缩杆不与其他结构干涉;所述的腿部压簧三段式伸缩杆24与髋部压簧三段式伸缩杆20结构类似,在穿戴者直立时其压簧处于放松状态,穿戴者下蹲时伸缩杆和压簧均压缩,为下肢外骨骼提供部分支撑;起身时,压簧逐渐放松恢复原长,为穿戴者提供助力;所述伸缩杆均安装在下肢外骨骼外侧,下肢活动时不与其他结构发生干涉。This embodiment is described in conjunction with Fig. 9 and Fig. 10. The hip compression spring three-stage
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